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how to rotate before translate

asked 2018-09-18 10:21:55 -0500

lanlan gravatar image

hi, i am new to ros, tf new i need to build a transformation, the parameter for the rotation and translation has already been known, but i wonder how to rotate the frame before translate it, will sendTransform() consider the order? Thank you very much!

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answered 2018-09-18 17:12:23 -0500

lucasw gravatar image

updated 2018-09-18 17:17:06 -0500

You'll need two transforms instead of one, the first with the rotation and then a child one with the translation, and sendTransform them both.

Instead of parent -> child frame you'll have parent -> intermediate rotated child -> child frame, but any tf lookup can ignore the intermediate frame by looking up from parent to child and they'll see the combined proper rotation-then-translation transform.

Or you could do some matrix math to transform the translation in the rotated frame into the parent frame.

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that's exactly what i did finally, thank you very much!

lanlan gravatar image lanlan  ( 2018-09-18 19:03:23 -0500 )edit

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Asked: 2018-09-18 10:21:55 -0500

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Last updated: Sep 18 '18